#ifndef QUINTIC_H__
#define QUINTIC_H__

typedef struct{
    float q;
    float dq;
    float ddq;
}STRUCT_QUINTIC_POINT_BASE;

typedef struct{
    STRUCT_QUINTIC_POINT_BASE PointStart;
    STRUCT_QUINTIC_POINT_BASE PointEnd;
    float Time;
}STRUCT_QUINTIC_PARM_I;

typedef struct{
    float A;
    float B;
    float C;
    float D;
    float E;
    float F;
}STRUCT_QUINTIC_FACTOR;

int qcCalcFactor(STRUCT_QUINTIC_PARM_I Pram, STRUCT_QUINTIC_FACTOR *DataO);
int qcCalcPoint(STRUCT_QUINTIC_FACTOR Factor, float t, STRUCT_QUINTIC_POINT_BASE *Point);


#endif // QUINTIC_H
